Geometric Path Planning Without Maneuvers for Nonholonomic Parallel Orienting Robots

Abstract

Abstract-Current geometric path planners for non-holonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zero-velocity points. The need for these maneuvers restrains the use of this kind of parallel robots to few applications. Based on a rather old result on linear time-varying systems, this paper shows that there are infinitely differentiable paths connecting two arbitrary points in SO(3) such that the instantaneous axis of rotation along the path rest on a fixed plane. This theoretical result leads to a practical path planner for non-holonomic parallel orienting robots that generates single-move maneuvers. To present this result, we start with a path planner based on three-move maneuvers, and then we proceed by progressively reducing the number of moves to one, thus providing a unified treatment with respect to previous geometric path planners.

A path planning strategy for searching the most reliable path in uncertain environments

“…The combined field is 7) in which, the attractive function is T att ðq r ; q g Þ and the repulsive function is T rep ðq r ; q i Þ, q g denotes the location of target, q r is the location of a mobile robot, and q i denotes the location of a charge. According to the attractive function and repulsive function in Ge and Sui' study, 23 an improved attractive function is…”

“…Target search refers to search for one or several targets in an environment with one or more robots, which involves image processing and computer vision, [1][2][3] path planning, 4,5 simultaneous localization and mapping, and so on. 6,7 During the past decade, path planning for target search is one of the most interesting and challenging problems. Different planning methods have been proposed to deal with target search problems for various applications, such as home service, plant and deep sea exploration, autonomous rescue and security patrol.…”

Path Planning for Chainable Non-holonomic System Based on Iterative Learning Control

“…The actual control of non-holonomic system suffers from various disturbances, due to the error in the fabrication and assembly of non-holonomic machines, the insufficient resolution of the transmission system, and the uncertain accuracy of the measuring instrument [1,2]. As a result, the actual result of motion control often deviates from the theoretical simulation value, that is, the final configuration of the system does not coincide with the target configuration [3]. The most direct solution is to plan the path again for the system to move from the actual configuration to the target configuration [4][5][6].…”

Motion Control and Path Planning and Tracking Algorithm of Football Robot

“…Robot path planning is one of the basic contents of robot strategy research, and it is a key technology to realize robot intelligence. Its task is to find a collision-free path from the initial state (including position and attitude) to the target state (including position and attitude) in an environment with obstacles and according to certain evaluation criteria [5][6]. Path planning is mainly used in the underlying strategy of robots.…”